Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles

Download or read book Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles written by Haiyang Chao and published by . This book was released on 2010 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the re- mote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral °ight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight test results. Given the measurements from unmanned vehicles, the actuation algorithms are needed for missions like the diffusion control. A consensus-based central Voronoi tessellation (CVT) algorithm is proposed for better control of the diffusion process. Finally, the dissertation conclusion and some new research suggestions are presented.